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Modifiable Walking Pattern of a Humanoid Robot by Using Allowable ZMP Variation
2008
IEEE Transactions on robotics
In order to handle complex navigational commands, this paper proposes a novel algorithm that can modify a walking period and a step length in both sagittal and lateral planes. By allowing a variation of zero moment point (ZMP) over the convex hull of foot polygon, it is possible to change the center of mass (CM) position and velocity independently throughout the single support phase. This permits a range of dynamic walking motion, which is not achievable using the 3-D linear inverted pendulum
doi:10.1109/tro.2008.926859
fatcat:n7odqfakszcfjnwmfe2hqlik5m